Sökning: "Motion Planning"

Visar resultat 1 - 5 av 130 avhandlingar innehållade orden Motion Planning.

1. 1. Optimization-based robot grasp synthesis and motion control

   Författare :Robert Krug; Achim Lilienthal; Dimitar Dimitrov; Sami Haddadin; Örebro universitet; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Robot grasping; grasp synthesis; grasp planning; motion control; model predictive control; independent contact regions; obstacle avoidance; motion planning; Datavetenskap; Computer Science;

   Sammanfattning : This thesis investigates the questions of where to grasp and how to grasp a given object with an articulated robotic grasping device. To this end, aspects of grasp synthesis and hand motion planning and control are investigated. LÄS MER

3. 2. Robot Manipulation Planning Among Obstacles: Grasping, Placing and Rearranging

   Författare :Joshua Alexander Haustein; Danica Kragic; Kostas E. Bekris; KTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; robot manipulation planning; sampling-based planning; fingertip grasp planning; placement planning; rearrangement planning; Computer Science; Datalogi;

   Sammanfattning : This thesis presents planning algorithms for three different robot manipulation tasks: fingertip grasping, object placing and rearranging. Herein, we place special attention on addressing these tasks in the presence of obstacles. LÄS MER

4. 3. Communication-Aware Motion Planning for Mobile Robots

   Författare :Magnus Minnema Lindhé; Karl Henrik Johansson; Francesco Bullo; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; autonomous systems; robotics; wireless sensor networks; motion planning; multipath fading;

   Sammanfattning : Mobile robots have found numerous applications in recent years, in areas such as consumer robotics, environmental monitoring, security and transportation. For information dissemination, multi-robot cooperation or operator intervention, reliable communications are important. LÄS MER

5. 4. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking

   Författare :Pedro Xavier Miranda La Hera; Anton Shiriaev; Umeå universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Under-actuated Systems; Orbital Exponential Stability; Motion Planning; Virtual Constraints; Walking robots; Automatic control; Reglerteknik;

   Sammanfattning : Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. LÄS MER

7. 5. Least-Violating Motion Planning for Traffic-Compliant Autonomous Driving

   Författare :Jesper Karlsson; Jana Tumova; Tichakorn Wongpiromsarn; KTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Motion Planning; Formal Methods; Temporal Logic; Computer Science; Datalogi;

   Sammanfattning : Over the last decade, autonomous vehicles has received an increasing amount of interest from industries and research institutes. For autonomous vehicles to properly function alongside human drivers, safety guarantees are a must. LÄS MER